EP0956520B1 - Detection de poursuite de moteurs de commande electriques a detection de position incrementielle - Google Patents

Detection de poursuite de moteurs de commande electriques a detection de position incrementielle Download PDF

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Publication number
EP0956520B1
EP0956520B1 EP98905248A EP98905248A EP0956520B1 EP 0956520 B1 EP0956520 B1 EP 0956520B1 EP 98905248 A EP98905248 A EP 98905248A EP 98905248 A EP98905248 A EP 98905248A EP 0956520 B1 EP0956520 B1 EP 0956520B1
Authority
EP
European Patent Office
Prior art keywords
run
detection system
detection
electronic evaluation
incremental
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP98905248A
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German (de)
English (en)
Other versions
EP0956520A1 (fr
Inventor
Johannes Heib
Patric Kahles
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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Filing date
Publication date
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Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP0956520A1 publication Critical patent/EP0956520A1/fr
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor

Definitions

  • the invention is based on a follow-up detection of electric actuators with incremental Position detection, evaluation electronics and one non-volatile memory, especially with variable motors in Motor vehicles, according to the in the preamble of claim 1 defined genus.
  • EP 0 603 506 A2 describes a method for Bearing determination of an electric motor in two directions driven part of motor vehicles known. With help of a counter when moving the part into its two Directions Counting pulses from a position transmitter into the counter to decrease or increase the count according to the predetermined movement entered. After switching off the The drive motor is the one supplied by the position transmitter Pulses in their time interval from the switch-off time analyzed and assigned to a further movement of the counter, if the time interval of the impulses is a predetermined measure does not exceed. When reversing the polarity of the drive motor, the Only then count direction of the new direction of movement assigned if the distance of the pulses after reversing the polarity shrinks again.
  • JP 61 054 502 also describes this Acquisition of position pulses when adjusting a moving part during inertia tracking. It is in the event of a service interruption, an emergency power supply for activated the pulse counter.
  • EP-A 0 671 676 is an electrical control system for Roller shutters and shutters become known, in which the Angle of rotation and the direction of rotation detected by means of pulses becomes. The measured impulses are combined with the Position data of the servomotor in a non-volatile Memory saved, compared with each other and especially in the post-phase, if necessary Position detection corrected.
  • the tracking detection according to the invention with the characterizing features of claim 1 has the decisive advantage that all important data about the System status stored in a non-volatile memory and thus again at the next system start can be used as a basis.
  • the arrangement according to the invention is the evaluation electronics with a buffering provided that is large enough for position detection and Storage after switching off the evaluation electronics from the Supply voltage.
  • This special design is the Energy-saving evaluation electronics only switched on when they are is used as needed. In that all important System data was saved before or around the shutdown, are available again after restarting the system and form the basis for further work.
  • the invention is already at one point in time feasible at which the last possible position signal still has not arrived.
  • Arrangement is when using at least two against each other offset position signals subsequently, that is, when the Switch on the evaluation electronics to the supply voltage, one clear assignment of the direction of rotation by correcting and Assignment of the last edge change to one of the position transmitters can be performed by the evaluation electronics.
  • the last edge change one of the two position encoders can thus always be unique be assigned.
  • the follow-up detection according to the invention takes place in particular advantageously used in motor vehicles for detecting the Position when an electric motor stops, which is too Positioning purposes is used. This can e.g. at Windows, sunroofs and seats.
  • Position sensor two Hall sensors electrically offset by 90 ° intended.
  • the Follow-up detection contains the evaluation electronics a microcontroller.
  • an electronically programmable as non-volatile memory Memory used.
  • is as electronically programmable memory uses an EEPROM, which is preferably part of the microcontroller.
  • the intended Evaluation electronics at a tracking of electric servomotors with incremental position detection, by the intended Evaluation electronics the position of the servomotor when switching off of the engine.
  • the engine runs due to the Mass inertia of the overall system regularly after until it final standstill comes. This wake is recorded to the exact position of the motor or the one it drives To determine the adjustment system.
  • the evaluation electronics that of the position sensors also and especially during the Post-delivery position signals fixed.
  • the determined states of the position signals or the states of the Position sensors are stored in a non-volatile memory stores. So if all system data in this non-volatile Storage is stored, the prerequisite is that the evaluation electronics temporarily from the supply voltage can be switched off.
  • For follow-up recording is the Provide evaluation electronics with a buffer so that even after Switch off the motor and the supply voltage for the time of After the evaluation electronics is still able to both Position detection at the wake, as well as the the intended storage of the data.
  • the evaluation electronics temporarily from the supply voltage can be switched off, it is buffered, which is large enough to capture both the position and the storage of the system data after switching off the engine and the evaluation electronics from the supply voltage still to be able to perform.
  • the saving is already carried out at a point in time which the last possible position signal has not yet has arrived. This can switch off the Evaluation electronics from the supply voltage to one already Favorable early date and therefore considerable energy be saved.
  • Fig. 1 the exemplary case is shown that that in line 1 shown motor signal with edge 4 when switching off the actuator shown in detail changes its digital state.
  • the individual position signals are shown offset increasing time longer and the times between the Edge changes increase. This is particularly clear with those with 5 and 6 designated pulses can be seen.
  • the position signals can be supplied by Hall sensors, for example.
  • Fig. 2 is a matrix-like table with the old state of two incremental encoders when saving and the new state of the Incremental encoder after switching on the evaluation electronics again shown.
  • the old states of the two incremental encoders at Save entered In the left column labeled 22 is a possible new state of the incremental encoder after renewed Turning on the system shown.
  • the value 0 means that there is no change in the new to old state has occurred.
  • the value 1 means that a correction of Position and direction of rotation is clearly possible.
  • the value 2 means that a correction is not clearly possible.
  • a non-volatile memory can be a electronically programmable memory can be used, the is in particular an EEPROM, which is particularly useful Way can be part of the microcontroller.
  • the invention finds preferred use in motor vehicles for Detecting the position when an electric motor is at a standstill is used for positioning purposes.
  • the time is advantageously Overrun analysis or overrun detection of an engine Shutdown of the supply voltage shortens that Buffer capacity can be reduced; Hysteresis effects of the incremental position sensors used Capture inaccuracies caused and there is Possibility to follow-up recording within certain limits to verify.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (11)

  1. Détection de la poursuite de mouvement de moteurs de commande électriques à détection incrémentielle de position, notamment pour des moteurs de commande ou d'actionnement de véhicules automobiles, comprenant :
    une électronique d'exploitation qui détecte des signaux de position (2, 3) de capteurs de position incrémentiels, et qui enregistre les états de capteurs incrémentiels de position, constatés à partir des signaux de position (2, 3) dans une mémoire non volatile,
    caractérisée en ce que
    l'électronique d'exploitation peut être coupée de temps-en-temps de la tension d'alimentation, et
    la constatation de la position exacte lors de la coupure du moteur après un nouveau branchement de l'électronique d'exploitation se fait en fonction d'une comparaison entre les états mis en mémoire du capteur de positon incrémentiel avec les états lors du rebranchement.
  2. Détection de poursuite de mouvement selon la revendication 1,
    caractérisée en ce que
    l'enregistrement en mémoire des états constatés des capteurs de position incrémentiels s'effectue avant l'instant auquel le dernier signal de position (7), possible n'est pas encore arrivé.
  3. Détection de poursuite de mouvement selon l'une quelconque des revendications 1 ou 2
    caractérisée en ce que
    la comparaison pour déterminer la position exacte se fait en application d'un tableau matriciel qui permet de savoir si une correction de position et de sens de rotation, est nécessaire, possible de manière non équivoque ou possible d'une manière équivoque.
  4. Détection de poursuite de mouvement selon l'une quelconque des revendications 1 à 3,
    caractérisée en ce que
    l'électronique d'exploitation comporte un moyen tampon suffisamment grand pour détecter la position et l'enregistrer après la coupure de la tension d'alimentation de l'électronique d'exploitation.
  5. Détection de poursuite de mouvement selon la revendication 3,
    caractérisée en ce que
    pour déterminer la position exacte à la coupure du moteur après un rebranchement de l'électronique d'exploitation en utilisant au moins deux signaux de position décalés l'un par rapport à l'autre (2, 3) on effectue une correction non équivoque à la fois du sens de rotation et de la position, si seulement l'un des capteurs de position incrémentiels indique un changement d'état.
  6. Détection de poursuite de mouvement selon la revendication 3,
    caractérisée en ce que
    pour déterminer la position exacte à la coupure du moteur après un rebranchement de l'électronique d'exploitation en utilisant au moins deux signaux de position décalés l'un par rapport à l'autre (2, 3), la prise en compte du sens de rotation précédent s'effectue si deux des capteurs incrémentiels de position indiquent un changement d'état.
  7. Détection de poursuite de mouvement selon l'une quelconque des revendications précédentes,
    caractérisée par
    son application à des véhicules automobiles pour détecter la position d'un moteur électrique à l'arrêt, utilisé à des fins de positionnement.
  8. Détection de poursuite de mouvement selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    le capteur de position est constitué par deux capteurs Hall décalés électriquement de 90°.
  9. Détection de poursuite de mouvement selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    l'électronique d'exploitation comporte un microcontrôleur.
  10. Détection de poursuite de mouvement selon la revendication 9,
    caractérisée en ce que
    la mémoire non volatile est une mémoire programmable électroniquement.
  11. Détection de poursuite de mouvement selon la revendication 10,
    caractérisée en ce que
    la mémoire programmable électroniquement est une mémoire EEPROM qui fait de préférence partie du microcontrôleur.
EP98905248A 1997-01-28 1998-01-13 Detection de poursuite de moteurs de commande electriques a detection de position incrementielle Expired - Lifetime EP0956520B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19702931A DE19702931C1 (de) 1997-01-28 1997-01-28 Anordnung zur Nachlauferfassung von elektrischen Stellmotoren mit inkrementaler Positionserfassung
DE19702931 1997-01-28
PCT/DE1998/000098 WO1998033101A1 (fr) 1997-01-28 1998-01-13 Detection de poursuite de moteurs de commande electriques a detection de position incrementielle

Publications (2)

Publication Number Publication Date
EP0956520A1 EP0956520A1 (fr) 1999-11-17
EP0956520B1 true EP0956520B1 (fr) 2003-04-16

Family

ID=7818512

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98905248A Expired - Lifetime EP0956520B1 (fr) 1997-01-28 1998-01-13 Detection de poursuite de moteurs de commande electriques a detection de position incrementielle

Country Status (9)

Country Link
US (1) US6281653B1 (fr)
EP (1) EP0956520B1 (fr)
JP (1) JP4173554B2 (fr)
KR (1) KR100562698B1 (fr)
BR (1) BR9807522A (fr)
DE (2) DE19702931C1 (fr)
ES (1) ES2197461T3 (fr)
HU (1) HUP0000681A3 (fr)
WO (1) WO1998033101A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10015856A1 (de) * 2000-03-30 2001-10-11 Bosch Gmbh Robert Verfahren zur Bestimmung der Restlaufzeit eines Antriebes bis zum Erreichen einer Endposition
DE10117194B4 (de) * 2001-04-05 2013-09-19 Anton Rodi Winkel- oder Wegmessgeber
JP2004336879A (ja) * 2003-05-07 2004-11-25 Tamagawa Seiki Co Ltd 駆動回路内蔵型サーボモータ
DE102006002221A1 (de) * 2005-11-11 2007-05-24 Micronas Gmbh Integrierter elektronischer Schaltkreis
DE102007021177B4 (de) * 2007-05-05 2016-11-03 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Verfahren zur Ansteuerung eines Stellelements in einem Kraftfahrzeug sowie Verstelleinrichtung
DE102012110049A1 (de) 2012-10-22 2014-04-24 Minebea Co., Ltd. Verfahren und Steuereinheit zur Bestimmung der Position einer Stelleinrichtung, sowie bürstenloser Gleichstrommotor mit einer derartigen Steuereinheit
DE102017105543A1 (de) * 2017-03-15 2018-09-20 Schaeffler Technologies AG & Co. KG Verfahren und Vorrichtung zur Beibehaltung einer detektierten Absolutposition eines als Aktor wirkenden Elektromotors in einem kritischen Betriebsfall

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US3585372A (en) * 1969-10-01 1971-06-15 Hughes Aircraft Co Electrical control system
US3646419A (en) * 1969-11-05 1972-02-29 Hughes Aircraft Co Numerical control with position offset
JPS6154502A (ja) * 1984-08-24 1986-03-18 Mitsubishi Electric Corp 数値制御装置
DE3829405A1 (de) * 1988-08-30 1990-03-08 Webasto Ag Fahrzeugtechnik Betaetigungseinrichtung fuer elektromotorisch bewegbare teile von kraftfahrzeugen
IT1223863B (it) 1988-10-24 1990-09-29 Comau Spa Dispositivo per determinare e rilevare la posizione raggiunta da un organo mobile particolarmente per il controllo di automi industriali
US5130710A (en) * 1989-10-18 1992-07-14 Pitney Bowes Inc. Microcomputer-controlled electronic postage meter having print wheels set by separate D.C. motors
DE4232950A1 (de) * 1992-10-01 1994-04-07 Bosch Gmbh Robert Vorrichtung zur Lageregelung eines bewegbaren Teils
DE4243934A1 (de) * 1992-12-23 1994-06-30 Bayerische Motoren Werke Ag Verfahren zur Lagebestimmung eines elektromotorisch in zwei Richtungen angetriebenen Teils von Kraftfahrzeugen
EP0615111B2 (fr) 1993-03-12 1999-12-29 Siemens Aktiengesellschaft Emetteur de signaux de vilebrequin ou d'arbre à cames
US5532583A (en) * 1993-05-04 1996-07-02 Storage Technology Corporation System and method for calibrating a position sensing system
IT1270024B (it) * 1994-03-08 1997-04-28 Maffioli Giampaolo Sistema di controllo elettronico per serramenti e tende avvolgibili
CH690463A5 (fr) 1995-03-01 2000-09-15 Portescap Codeur optique incrémental.
DE19712622C5 (de) * 1997-03-26 2010-07-15 Dr. Johannes Heidenhain Gmbh Anordnung und Verfahren zur automatischen Korrektur fehlerbehafteter Abtastsignale inkrementaler Positionsmeßeinrichtungen
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US6111384A (en) 1998-05-26 2000-08-29 Eastman Kodak Company Method for controlling motor speed

Also Published As

Publication number Publication date
US6281653B1 (en) 2001-08-28
ES2197461T3 (es) 2004-01-01
WO1998033101A1 (fr) 1998-07-30
EP0956520A1 (fr) 1999-11-17
KR100562698B1 (ko) 2006-03-23
DE59807963D1 (de) 2003-05-22
DE19702931C1 (de) 1998-07-02
HUP0000681A2 (hu) 2000-06-28
JP4173554B2 (ja) 2008-10-29
HUP0000681A3 (en) 2000-07-28
BR9807522A (pt) 2000-03-21
KR20000070515A (ko) 2000-11-25
JP2001508896A (ja) 2001-07-03

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